Vehicular collision mitigation system

ABSTRACT

A collision mitigation system for a vehicle includes a plurality of cameras, a radar sensor and/or lidar sensor, and a control that may process data captured by the cameras, radar sensor and/or lidar sensor. When the vehicle is moving and responsive at least in part to a determination that the vehicle is approaching an object present forwardly of the vehicle, the control is operable to control application by an automatic emergency braking system of a vehicle brake of the vehicle to mitigate collision with the object. Responsive to determination that a following vehicle is following the vehicle and when the determined following vehicle is within a threshold distance from the vehicle and is approaching the vehicle above a threshold rate of approach, the control adjusts automatic emergency braking of the vehicle to mitigate collision at the rear of the vehicle by the determined following vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/416,217, filed Jan. 26, 2017, now U.S. Pat. No. 9,824,285,which is a continuation of U.S. patent application Ser. No. 15/131,593,filed Apr. 18, 2016, now U.S. Pat. No. 9,563,809, which is acontinuation of U.S. patent application Ser. No. 14/809,541, filed Jul.27, 2015, now U.S. Pat. No. 9,318,020, which is a continuation of U.S.patent application Ser. No. 14/169,328, filed Jan. 31, 2014, now U.S.Pat. No. 9,092,986, which claims the filing benefits of U.S. provisionalapplications, Ser. No. 61/886,883, filed Oct. 4, 2013; Ser. No.61/834,129, filed Jun. 12, 2013, and Ser. No. 61/760,366, filed Feb. 4,2013, which are hereby incorporated herein by reference in theirentireties.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras to capture images exterior ofthe vehicle, and provides the communication/data signals, includingcamera data or image data that may be displayed or processed to providethe desired display images and/or processing and control, depending onthe particular application of the camera and vision or imaging system.

According to an aspect of the present invention, a vision system oralert system is operable, based on image processing of image datacaptured by a forward facing camera of the vehicle, to determine whenthe vehicle is stopped at a traffic light and another vehicle is aheadof the equipped vehicle at the traffic light, and is further operable todetermine when the traffic light changes to green and the vehicle infront of the equipped or subject vehicle begins to move forward awayfrom the equipped vehicle. At least in part responsive to such detectionor determination, the system is operable to generate an alert ornotification to the driver of the equipped vehicle and/or the system maygovern or control forward movement of the equipped vehicle. The systemthus alerts the driver of the possibility or likelihood that a trafficlight has changed to green or the like, whereby the driver may, ifappropriate, proceed forward to follow the leading vehicle into orthrough the intersection or the like.

According to another aspect of the present invention, an automaticbraking system for a vehicle comprises a forward viewing camera and arearward viewing camera disposed at a vehicle and an image processoroperable to process image data captured by the forward viewing cameraand the rearward viewing camera. Responsive at least in part to adetermination that the equipped vehicle is approaching an object (suchas a leading vehicle or other object) present forwardly of the equippedvehicle (such as in the lane being traveled by the equipped vehicleand/or in the forward path of travel of the equipped vehicle), theautomatic braking system is operable to apply a vehicle brake of theequipped vehicle to mitigate or reduce the likelihood of collision withthe determined object. Responsive at least in part to a determinationthat another vehicle is following the equipped vehicle (such as in thelane being traveled by the equipped vehicle and/or otherwise trailing orfollowing the equipped vehicle) and the determined following vehicle isat least one of (i) within a threshold distance from the equippedvehicle and (ii) approaching the equipped vehicle at a threshold rate,the automatic braking system adjusts or reduces application of thevehicle brakes to mitigate or reduce the likelihood of a rear collisionby the determined following vehicle. For example, the system may reducethe degree of braking responsive to a determination that a followingvehicle is too close or within a threshold distance and/or isapproaching too fast or above a threshold rate of approach, in order tomitigate the potential rear collision with the following vehicle uponapplication of the brakes to mitigate or avoid a front collision withthe leading vehicle.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view in accordancewith the present invention;

FIG. 2 is side view of a target vehicle ahead of a vehicle equipped withthe vision system and alert system of the present invention; and

FIG. 3 is a schematic showing the braking strategy for a vehicle with anautomatic emergency braking system of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A driver assist system and/or vision system and/or object detectionsystem and/or alert system may operate to capture images exterior of thevehicle and process the captured image data to detect objects at or nearthe vehicle and in the predicted path of the vehicle, such as to assista driver of the vehicle in maneuvering the vehicle in a rearwarddirection. The object detection may utilize detection and analysis ofmoving vectors representative of objects detected in the field of viewof the vehicle camera, in order to determine which detected objects areobjects of interest to the driver of the vehicle, such as when thedriver of the vehicle undertakes a reversing maneuver.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes one or more imaging sensors or cameras (such as a rearwardfacing imaging sensor or camera 14 a and/or a forwardly facing camera 14b at the front (or at the windshield) of the vehicle, and/or asidewardly/rearwardly facing camera 14 c, 14 d at the sides of thevehicle), which capture images exterior of the vehicle, with the camerashaving a lens for focusing images at or onto an imaging array or imagingplane of the camera (FIG. 1). The vision system 12 is operable toprocess image data captured by the cameras and may provide displayedimages at a display device 16 for viewing by the driver of the vehicle.Optionally, the vision system may process image data to detect objects,such as objects to the rear of the subject or equipped vehicle during areversing maneuver, or such as approaching or following vehicles orvehicles at a side lane adjacent to the subject or equipped vehicle orthe like.

When a driver of a vehicle is at a traffic light that is red and waitingat red light for green, the driver may not pay attention to the trafficlight status, and may concentrate on other items or the like. Forexample, the driver of the stopped vehicle may check text messages oremails or the like while waiting for the traffic light to change togreen. When not paying attention to the traffic light or traffic orvehicle ahead of the driver's vehicle, the driver may not notice whenthe traffic light turns to green and when the vehicle or vehicles aheadof the driver have proceeded into the intersection or the like. Often,drivers that are slow to start moving when a traffic signal changes to agreen light are slow to respond due to inattention, or rather misguidedattention to emails or texts or the like, instead of the traffic light(green light) and/or traffic ahead of the equipped vehicle, and thus donot notice that the vehicle in front of them just moved forward and awayfrom the equipped vehicle.

The present invention provides a feature or alert system which, based onthe vehicle's forward viewing camera or forward camera module, and usingthe camera's or vision system's vehicle detection algorithms, detectsthat the vehicle in front of the equipped vehicle is starting to moveforward and, responsive to such detection, alerts the driver of theequipped vehicle to look up and, if appropriate, to also start drivingthe vehicle forward. The system is operable to determine when theequipped vehicle is at a traffic light and when the traffic light is ared light or a green light and when another vehicle is ahead of theequipped vehicle. Thus, when the system determines that the equippedvehicle is at a red light and stopped behind another vehicle at the redlight, and then determines that the light changes to green and theleading other vehicle moves away and into the intersection, the systemmay generate an alert or control signal, such as after the leadingvehicle moves a threshold distance ahead of the equipped vehicle withthe equipped vehicle still not moving. The threshold value for thedistance between the leaving leading vehicle and the equipped vehicle atwhich the alert is generated may be any suitable distance, such as, forexample, at least about two meters or at least about three meters ormore, in order to make sure that the alert is a valid notification.

The present invention thus provides a new function for a front camera114 b of a vehicle vision system of a vehicle 110 (see FIG. 2) withvehicle detection algorithm and driver notification output (such as avisual alert output, a tactile alert output and/or an audio alertoutput, such as, for example, speech from an audio system of thevehicle, or the like). The alert system of the present invention thusmay use the front camera and the vehicle detection algorithms andconnections to the vehicle's human machine interfaces (HMIs), which mayalready be existing in the vehicle vision system, such as for a surroundview or bird's eye view vision system or the like, to notify the driverof the equipped vehicle to start moving after the target or leadingvehicle 120 has moved forward and away from the equipped vehicle athreshold distance. The system of the present invention thus uses thecamera or cameras already present on the vehicle. For example, thecamera or cameras used by the alert system may be part of a multi-cameravision system or surround view system or forward facing camera system ofthe vehicle (and may utilize aspects of the systems described in U.S.Pat. No. 7,855,755, which is hereby incorporated herein by reference inits entirety). Such use of cameras already present on the vehicle forother purposes reduces the cost of the recording system, since nodedicated cameras are needed for the alert system when the alert systemis added to the vehicle.

Preferably, the alert system will operate in a manner that will notannoy the driver with warnings if the driver is already aware of what isgoing on ahead of the equipped vehicle. For example, in addition to thedetection of the movement of the vehicle in front of the equippedvehicle, the alert system of the present invention may not provide analert when the driver of the equipped vehicle takes actions to initiatemovement of the equipped vehicle, such as applying the accelerator orturning the steering wheel or engaging or disengaging the clutch or anyother suitable actions or parameters that indicate that the driver isalert and is driving the vehicle or is about to drive the vehicle.

Thus, the alert system of the present invention provides reliabledetection of the target or leading vehicle speed and/or the distancebetween the target or leading vehicle and the equipped vehicle in orderto avoid warning or alerting the driver of the equipped vehicle everytime the target vehicle advances slightly to adjust within a line ofvehicles at a traffic light or intersection or the like. Thenotification or alert to the driver of the equipped vehicle also shouldbe provided early enough to be useful to the driver. For example, thethreshold setting may be set low enough to provide an alert when it ishighly likely that the driver is inattentive but high enough to avoidfalse alerts. Optionally, the threshold setting may be adjustable oradaptive for different drivers.

Optionally, with the increased proliferation of start-stop technology,it is envisioned that the present invention may be operable to start theengine of the equipped vehicle even before the driver presses the gaspedal based on the intersection alert (such as when the systemdetermines that the light changes to green and/or when the systemdetermines that the leading vehicle starts to move away from the stoppedequipped vehicle) to save time in moving the vehicle forward. Thestarting of the engine would also provide an alert or indication to thedriver that he or she should pay attention to the traffic and/or trafficlight ahead of the equipped vehicle.

Optionally, the alert system of the present invention may be responsiveto detection of other items or events in addition to or instead ofdetection of the forward movement of the vehicle ahead of the equippedvehicle. For example, the system may process image data captured by theforward viewing camera to detect when the traffic or intersection lightchanges from red to green, whereby the system may generate the alertwhen forward movement of the leading vehicle is detected and when thesystem detects that the traffic light is green. Such an additionalsensing may be implemented when the traffic light is in clear view/sightof the camera, and thus such an additional sensing may comprise acomplementary or auxiliary sensing, but not the main sensing parameteror input for the system. Such a sensing of the state of the trafficlight may allow the alert system to operate in situations where theequipped vehicle is at an intersection with no vehicles ahead of theequipped vehicle, whereby an alert may be generated responsive to adetection of the traffic light changing to green and no indication thatthe drier of the equipped vehicle is aware of the change.

Optionally, the alert system may only operate to detect the movement ofthe leading vehicle and alert the driver of the equipped vehicleaccordingly, if the system first detects or determines that the equippedvehicle is at a traffic light intersection, or optionally if the systemdetects or determines that the equipped vehicle is in a line of at leasttwo vehicles at a stop sign or the like. Optionally, the alert systemmay be operable to determine movement of the leading vehicle and togenerate the alert in response to first determining, such as via a GPSsystem of the vehicle or the like, that the equipped vehicle is stoppedat or near an intersection.

Optionally, by using vehicle-to-roadside bidirectional communication orroadside-to-vehicle communication from the intersection light or signalto the camera, the alert system may receive a signal or communicationthat is indicative of when the traffic light switches to green (such asby utilizing aspects of V2V communications or X2V communications or thelike). Such a communication may also augment or supplement the sensingof forward movement of a leading vehicle.

Optionally, the alert system may link the knowledge of the distance tothe target or leading vehicle (when the leading vehicle is stationary orstill or when starting to move forward) to an overall vehicle safetysystem, whereby the system may use such information during a rear endcollision at the rear of the equipped vehicle in order to mitigate theimpact or collision.

Optionally, the alert system may be operable to provide a startnotification using an in-vehicle telematics system or communicationprotocol, such as an in-vehicle BLUETOOTH® system or the like. Forexample, responsive to detection of the leading vehicle moving forward(indicative of, for example, the traffic light changing to a greenlight), an alert or notification or output from the vehicle alert systemmay be communicated to the driver's PDA or cell phone or smartphone orcommunication device or the like as a means for the start notification.Such an alert may be useful since the driver, who is not moving thevehicle forward with the vehicle ahead of the equipped vehicle, mayalready be looking at his or her PDA or cell phone or smartphone displayor the like, and even if not looking at the PDA or cell phone orsmartphone or the like, will not be annoyed by any audible (such as achime or voice message) notification or visual notification from thevehicle. For example, the driver's PDA or cell phone or smartphone orcommunication device may display “get moving” or any similar text ormessage or icon or the like (and such a visual message may be coupledwith any audible alert or chime if the user so chooses). The alert maybe selectable by the driver so that the alert that is provided isacceptable to and preferred by the driver of the equipped vehicle.

Optionally, such an alert may only be generated by the cell phone orsmartphone or PDA or communication device or the like only when the cellphone or smartphone or PDA or communication device is in a certain typeof application that likely has the driver's attention at that time (suchas, for example, when the driver's phone is in an email mode or textmessaging mode or internet browsing mode or any active mode or app orgame that would typically require the user's attention), and the systemmay limit such notification frequency even further to keep annoyance toa reduced level or minimum level. The alert system may communicate withthe driver's communication device and may receive a signal or outputtherefrom that is indicative of the current state of the device, such aswhat app or function the device is currently operating, and the alertsystem may, responsive at least in part to such a determination,communicate an alert to the communication device to alert the driver ofthe change in traffic light or movement of the vehicle or vehicles aheadof the equipped vehicle.

Optionally, and alternatively (or complementary) to any of the abovenotifications or alerts, the start notification may comprise an alert orchange at the radio/NAV display or the like. Such an alert may beprovided in cases where the driver is entering GPS data or adjusting thecontrols or the like of the radio and/or navigation and/or telematicssystem of the vehicle (or any other system or accessory of the vehiclethat utilizes user inputs). For example, a big red symbol (or greensymbol) on the NAV screen would be an attention grabber to alert thedriver that it may be time to drive the equipped vehicle forward.

Thus, the present invention provides an alert system that is operable todetermine when a vehicle ahead of the equipped vehicle moves forwardfrom a stopped position, such as when a traffic light changes to green,and may determine that the leading vehicle moves a threshold distanceahead of the equipped vehicle and/or the equipped vehicle does notfollow within a threshold time period or the like, and, responsive tosuch determination or determinations, alerts the driver to pay attentionand, if appropriate, drive the equipped vehicle forward and into and/orthrough the intersection. The alert system may only generate the alertresponsive to other detections or determinations or parameters, such asa detection that the driver is using a vehicle accessory or system orusing a cell phone or PDA or communication device or the like, and thusis not likely paying attention to the current driving situation.Optionally, the alert system may only generate the alert if thedetection of movement of the leading vehicle occurs after the equippedvehicle has stopped behind the leading vehicle or when the systemdetermines that the equipped vehicle is at an intersection or the like.

Thus, the present invention may provide an alert system that utilizes astandard or existing front camera of a vehicle with existing forwardfield of view and vehicle detection algorithms. The present invention,by alerting the driver when it is time to commence or recommencedriving, provides an incentive for or allows drivers to read incomingtexts or emails or the like when the vehicle is stopped at anintersection, without concerns with sitting through a green light orholding up following traffic or the like. Such an alert system thus mayencourage drivers to not text or check emails or the like whilemoving/driving the vehicle along the road, since they will be able tofocus on the texts and emails at the next stop light, without worryingabout not paying attention to the traffic light or vehicles ahead of theequipped vehicle. The present invention may also increase the efficiencyof traffic flow at intersections by limiting or reducing the time that avehicle may sit after the vehicle in front of it has moved forward. Suchincreased efficiency may also reduce irritation and possible road ragebetween drivers, and may reduce the number of rear end collisions atintersections based on less uncertainty and hesitating driver and betterflow in the line of vehicles at intersection. The present invention alsoincreases the benefits from front cameras for little or close to no costto drive the acceptance and implementation of such forward viewing orfront cameras in the market place.

The alert system utilizes a forward viewing camera that may be disposedat a forward region of the vehicle and/or at or behind the windshield ofthe vehicle, such as at a windshield electronics module or forwardcamera module or interior rearview mirror assembly or the like. Thecamera may comprise any suitable camera or imaging sensor, such asdiscussed below. The system includes an image processor for processingimage data captured by the forward facing camera to determine that (i)the equipped vehicle is stopped at a red traffic light, (ii) anothervehicle is ahead of the equipped vehicle at the traffic light, (iii) thetraffic light changes to a green light, (iv) the leading vehicle movesaway from the equipped vehicle and (v) the equipped vehicle does notmove. When the equipped vehicle does not move for a threshold period oftime after the leading vehicle moves (or after the traffic light changesto a green light) or when the leading vehicle moves a threshold distanceaway from the non-moving equipped vehicle, the system may generate analert or control a vehicle system (such as the ignition to start a shutoff vehicle or such as a display system to display a message or such asa control system that provides a haptic signal, such as by vibrating thesteering wheel, or the like) to alert the driver that it is time todrive the vehicle forward into the intersection.

Optionally, the system of the present invention may utilize a rear videocamera with vehicle detection output to a front camera of the vehicle.For example, the system of the present invention may avoid rear endcollisions (by a vehicle rearward of and following the equipped leadvehicle) by deliberately activating the rear brake lights of theequipped vehicle earlier when a Forward Collision Alert (FCA) systemtracks close to the time to collision (TTC) for activation of thebraking system of the lead (Ego) vehicle function (such as low speedcollision mitigation by braking (LSCMB)/pedestrian collision mitigationby braking (PedCMB) or the like). This may provide a useful functioneven without automatic braking as a warning to drivers close behind anFCA equipped vehicle. The system basically provides a heads up or alertto the driver of a following vehicle or vehicles that the driver of theleading vehicle ahead of the following vehicle(s) may brake soon.

Optionally, the system may delay/minimize CMB braking force of the leadequipped (Ego) vehicle when TTC is reached if a vehicle is followingclose behind the lead vehicle, in order to limit or mitigate or avoidrear end collision. This may be seen as conflicting objectives withbraking for the obstacle ahead of the equipped vehicle, but if thedistance is known to a detected object or obstacle in front of theequipped vehicle and the distance to the following vehicle is known,there will be an optimal compromise available to enhance limiting ormitigation of or avoidance of collision with one or bothobjects/vehicles. This could also limit liabilities or required safetylevels (including Automotive Safety Integrity Levels or ASILs) and mayreduce or eliminate the need for a “perfect” front camera system thatoperates without false positives.

For example, and with reference to FIG. 3, a vehicle 210 equipped withan automatic emergency braking (AEB) system includes a forward facingcamera that captures images forward of the vehicle, whereby the AEBsystem is operable to apply the vehicle brakes responsive to detectionof a vehicle or obstacle ahead of the vehicle and in the field of viewof the forward facing camera. The application of the braking system anddegree of braking applied by the AEB system is determined by anassessment of the situation ahead of the vehicle. For example, a highdegree of braking may be applied if the equipped vehicle is rapidlyapproaching a detected obstacle or object or vehicle and/or is within athreshold distance to the detected object, while a lower degree ofbraking may be applied if the equipped vehicle is approaching a detectedobstacle or object or vehicle at a slower rate and/or is at a greaterthreshold distance to the detected object. The AEB system may considerthe speed of the subject or equipped vehicle and speed of the detectedobject (or relative speed or rate of approach between the two vehicles)and the distance between the equipped vehicle and the detected object indetermining the rate of braking of the equipped vehicle.

Optionally, the AEB system may be responsive to an output of a rearcamera of the vehicle, and may adjust the braking responsive to adetermination that another vehicle is following the equipped vehicle.For example, the system may provide a decreasing level of braking if avehicle is determined to be closely behind the equipped vehicle and mayonly initiate a maximum braking or high braking if there is no vehicledetected behind the equipped vehicle or if there is a vehicle detectedbehind the equipped vehicle but a rear end collision is unavoidable andthe maximum braking is needed to avoid or reduce or mitigate a collisionwith a detected object or vehicle ahead of the equipped vehicle.

As shown in FIG. 3, the equipped vehicle 210 may adjust the degree ofbraking responsive to a determined distance (and optionally a determinedrate of approach) of a following vehicle (222 a, 222 b, 222 c) behindthe equipped vehicle. The determination of whether or not braking isneeded may be made responsive to the front camera assessment (such asvia image processing of image data captured by the forward viewingcamera and determination of a leading vehicle ahead of the equippedvehicle that is approaching the equipped vehicle), and the determineddegree of braking may initially be set based on the front cameraassessment, whereby that determined degree of braking may be adjusted orreduced based on a determination of the presence and distance andapproach of a following vehicle behind the equipped vehicle. Forexample, and as can be seen in FIG. 2, if a trailing vehicle 222 a isfollowing closely behind the equipped vehicle 210 (within a thresholddistance), the degree of braking (as determined responsive to theforward facing camera) may be reduced to avoid or mitigate a rear endcollision, while if a trailing vehicle 222 b is following at a greaterdistance behind the equipped vehicle (greater than the thresholddistance), the degree of braking (as determined responsive to theforward facing camera) may be reduced a lesser amount, and if a trailingvehicle 222 c is following at an even greater distance (greater than alarger threshold distance), the AEB system may provide maximum brakingor may not reduce the determined rate of braking as determined based onimage processing of image data captured by the forward facing camera.The degree of braking that is applied is thus adjusted based on thedistance (and rate of approach) to the detected trailing vehicle that isfollowing behind the equipped vehicle (such as in the lane of traffic ofthe equipped vehicle).

Thus, the automatic braking system for a vehicle includes an imageprocessor operable to process image data captured by front and rearcameras of the equipped vehicle. Responsive at least in part to adetermination that the equipped vehicle is approaching an objectdetermined to be present forwardly of the equipped vehicle, the systemis operable to apply the vehicle brakes to reduce the likelihood ofcollision with the determined object. Also, responsive at least in partto a determination that another vehicle is following the equippedvehicle and within at least one of (i) a threshold distance from theequipped vehicle and (ii) a threshold rate of approach to the equippedvehicle, the system is operable to adjust the application of the vehiclebrakes to reduce the likelihood of a rear collision by the determinedfollowing vehicle.

The braking system may be operable to determine a degree of applicationof the vehicle brakes to mitigate collision with the determined forwardobject and the determined following vehicle. The braking system may beoperable to apply a maximum degree of braking only when the systemdetermines that there is no vehicle following the equipped vehiclewithin a threshold distance from the equipped vehicle. Optionally, thebraking system may be operable to apply a maximum or high degree ofbraking even when the system determines that there is a vehiclefollowing the equipped vehicle but also determines that the rate ofapproach to the leading vehicle requires a high degree of braking tomitigate an imminent collision. The system may consider the rate ofapproach and distance to the leading vehicle and compare that to therate of approach and distance to the trailing vehicle in determining thebest degree of braking of the subject vehicle to mitigate either or bothpotential or imminent collisions.

Thus, an AEB system is provided that uses input from a rearward facingcamera and adjusts the braking level accordingly. Such a system allowsfor a lower ASIL for a front camera system. If the system detects thatthere is no vehicle within some distance behind the AEB vehicle, thenthe system can brake at a high level (such as, for example, up to about1 g or thereabouts) without consequences (such as rear end collision)even for situations when the AEB system is triggered by a falsepositive. In other words, by only max-braking when there is no vehiclefollowing the equipped vehicle, the risk of harming someone is reduced(which may translate to a lower required ASIL). In the fairly lowoccurrence case that someone is really close behind the equippedvehicle, the system may limit or reduce the applied braking responsiveto a rear camera data input. Thus, such a system utilizes vehicle orobject detection capability in the rear camera or multi-camera system ofthe vehicle.

Another positive or benefit of the reduced risk for causing inadvertentrear end collisions (such as when the AEB system, responsive to a frontcamera output, issues the brake command without regard to what isfollowing behind the equipped vehicle), is that the TTC (Time ToCollision) brake trigger settings in the front camera could, optionally,be extended to allow for more false positives, while also insuring thatno proper (true positive) braking for a vehicle/pedestrian is evermissed.

Optionally, the system of the present invention may include or utilizeadditional lane departure warning (LDW) support data from lane markingsdetected behind the vehicle. Thus, the rear camera may augment the lanemarking detection by the forward facing camera and associated processor.The image data captured by the rear facing camera may be processed bythe same image processor as the front camera image data or a separateimage processor may be used to process image data captured by therearward facing imager or camera.

The system of the present invention thus uses the camera or camerasalready present on the vehicle. For example, the camera or cameras usedby the alert and/or braking system may be part of a multi-camera visionsystem or surround view system or rear backup aid system or forwardfacing camera system of the vehicle (and may utilize aspects of thesystems described in U.S. Pat. No. 7,855,755, which is herebyincorporated herein by reference in its entirety). Such use of camerasalready present on the vehicle for other purposes reduces the cost ofthe recording system, since no dedicated cameras are needed for therecording system when the recording system is added to the vehicle.

Optionally, the vision and/or alert system may utilize other types offorward facing or forward viewing sensors, such as a radar sensor orlidar sensor or the like, either instead of a camera or in conjunctionwith a camera. Optionally, the alert system may utilize a ladar sensor(a radar type sensor that uses lasers instead of radio frequencies),such as a ladar sensor that comprises a two dimensional (2D) opticalphased array. The ladar sensor, instead of using radio waves, useslasers to scan a given area, and emits optical beams and returnsinformation that is more detailed than radar. A 2D laser phased arraydeveloped by Defense Advanced Research Projects Agency (DARPA) of Va. isaround the size of the head of a pin (about 576 μm×576 μm) and all ofthe required circuitry and/or components, such as 4,096 nanoantennasarranged in a 64×64 fashion, may be incorporated onto a single siliconchip. The ladar chip may provide dynamic beam steering via an 8×8 array.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inPCT Application No. PCT/US2012/066570, filed Nov. 27, 2012 and publishedas International Publication No. WO 2013/081984, and/or PCT ApplicationNo. PCT/US2012/066571, filed Nov. 27, 2012 and published asInternational Publication No. WO 2013/081985, which are herebyincorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEyeQ2 or EyeQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592 and/orU.S. patent application Ser. No. 14/107,624, filed Dec. 16, 2013; Ser.No. 14/102,981, filed Dec. 11, 2013; Ser. No. 14/102,980, filed Dec. 11,2013; Ser. No. 14/098,817, filed Dec. 6, 2013; Ser. No. 14/097,581,filed Dec. 5, 2013; Ser. No. 14/093,981, filed Dec. 2, 2013; Ser. No.14/093,980, filed Dec. 2, 2013; Ser. No. 14/082,573, filed Nov. 18,2013; Ser. No. 14/082,574, filed Nov. 18, 2013; Ser. No. 14/082,575,filed Nov. 18, 2013; Ser. No. 14/082,577, filed Nov. 18, 2013; Ser. No.14/071,086, filed Nov. 4, 2013; Ser. No. 14/076,524, filed Nov. 11,2013; Ser. No. 14/052,945, filed Oct. 14, 2013; Ser. No. 14/046,174,filed Oct. 4, 2013; Ser. No. 14/016,790, filed Oct. 3, 2013; Ser. No.14/036,723, filed Sep. 25, 2013; Ser. No. 14/016,790, filed Sep. 3,2013; Ser. No. 14/001,272, filed Aug. 23, 2013; Ser. No. 13/970,868,filed Aug. 20, 2013; Ser. No. 13/964,134, filed Aug. 12, 2013; Ser. No.13/942,758, filed Jul. 16, 2013; Ser. No. 13/942,753, filed Jul. 16,2013; Ser. No. 13/927,680, filed Jun. 26, 2013; Ser. No. 13/916,051,filed Jun. 12, 2013; Ser. No. 13/894,870, filed May 15, 2013; Ser. No.13/887,724, filed May 6, 2013; Ser. No. 13/852,190, filed Mar. 28, 2013;Ser. No. 13/851,378, filed Mar. 27, 2013; Ser. No. 13/848,796, filedMar. 22, 2012; Ser. No. 13/847,815, filed Mar. 20, 2013; Ser. No.13/800,697, filed Mar. 13, 2013; Ser. No. 13/785,099, filed Mar. 5,2013; Ser. No. 13/779,881, filed Feb. 28, 2013; Ser. No. 13/774,317,filed Feb. 22, 2013; Ser. No. 13/774,315, filed Feb. 22, 2013; Ser. No.13/681,963, filed Nov. 20, 2012; Ser. No. 13/660,306, filed Oct. 25,2012; Ser. No. 13/653,577, filed Oct. 17, 2012; and/or Ser. No.13/534,657, filed Jun. 27, 2012, and/or U.S. provisional applications,Ser. No. 61/919,129, filed Dec. 20, 2013; Ser. No. 61/919,130, filedDec. 20, 2013; Ser. No. 61/919,131, filed Dec. 20, 2013; Ser. No.61/919,147, filed Dec. 20, 2013; Ser. No. 61/919,138, filed Dec. 20,2013, Ser. No. 61/919,133, filed Dec. 20, 2013; Ser. No. 61/918,290,filed Dec. 19, 2013; Ser. No. 61/915,218, filed Dec. 12, 2013; Ser. No.61/912,146, filed Dec. 5, 2013; Ser. No. 61/911,666, filed Dec. 4, 2013;Ser. No. 61/911,665, filed Dec. 4, 2013; Ser. No. 61/905,461, filed Nov.18, 2013; Ser. No. 61/905,462, filed Nov. 18, 2013; Ser. No. 61/901,127,filed Nov. 7, 2013; Ser. No. 61/895,610, filed Oct. 25, 2013; Ser. No.61/895,609, filed Oct. 25, 2013; Ser. No. 61/893,489, filed Oct. 21,2013; Ser. No. 61/879,837, filed Sep. 19, 2013; Ser. No. 61/879,835,filed Sep. 19, 2013; Ser. No. 61/878,877, filed Sep. 17, 2013; Ser. No.61/875,351, filed Sep. 9, 2013; Ser. No. 61/869,195, filed. Aug. 23,2013; Ser. No. 61/864,835, filed Aug. 12, 2013; Ser. No. 61/864,836,filed Aug. 12, 2013; Ser. No. 61/864,837, filed Aug. 12, 2013; Ser. No.61/864,838, filed Aug. 12, 2013; Ser. No. 61/856,843, filed Jul. 22,2013, Ser. No. 61/845,061, filed Jul. 11, 2013; Ser. No. 61/844,630,filed Jul. 10, 2013; Ser. No. 61/844,173, filed Jul. 9, 2013; Ser. No.61/844,171, filed Jul. 9, 2013; Ser. No. 61/842,644, filed Jul. 3, 2013;Ser. No. 61/840,542, filed Jun. 28, 2013; Ser. No. 61/838,619, filedJun. 24, 2013; Ser. No. 61/838,621, filed Jun. 24, 2013; Ser. No.61/837,955, filed Jun. 21, 2013; Ser. No. 61/836,900, filed Jun. 19,2013; Ser. No. 61/836,380, filed Jun. 18, 2013; Ser. No. 61/833,080,filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No.61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013;Ser. No. 61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May15, 2013; Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922,filed May 10, 2013; Ser. No. 61/819,835, filed May 6, 2013; Ser. No.61/819,033, filed May 3, 2013; Ser. No. 61/816,956, filed Apr. 29, 2013;Ser. No. 61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filedApr. 22, 2013; Ser. No. 61/813,361, filed Apr. 18, 2013; Ser. No.61/810,407, filed Apr. 10, 2013; Ser. No. 61/808,930, filed Apr. 5,2013; Ser. No. 61/807,050, filed Apr. 1, 2013; Ser. No. 61/806,674,filed Mar. 29, 2013; Ser. No. 61/793,592, filed Mar. 15, 2013; Ser. No.61/772,015, filed Mar. 4, 2013; Ser. No. 61/772,014, filed Mar. 4, 2013;Ser. No. 61/770,051, filed Feb. 27, 2013; Ser. No. 61/766,883, filedFeb. 20, 2013; Ser. No. 61/760,364, filed Feb. 4, 2013; Ser. No.61/756,832, filed Jan. 25, 2013; and/or Ser. No. 61/754,804, filed Jan.21, 2013, which are all hereby incorporated herein by reference in theirentireties. The system may communicate with other communication systemsvia any suitable means, such as by utilizing aspects of the systemsdescribed in International Publication Nos. WO/2010/144900; WO2013/043661 and/or WO 2013/081985, and/or U.S. patent application Ser.No. 13/202,005, filed Aug. 17, 2011 and published as U.S. PublicationNo. US-2012-0062743, which are hereby incorporated herein by referencein their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. patentapplication Ser. No. 12/508,840, filed Jul. 24, 2009, and published Jan.28, 2010 as U.S. Pat. Publication No. US 2010-0020170, and/or U.S.patent application Ser. No. 13/534,657, filed Jun. 27, 2012, which areall hereby incorporated herein by reference in their entireties. Thecamera or cameras may comprise any suitable cameras or imaging sensorsor camera modules, and may utilize aspects of the cameras or sensorsdescribed in U.S. patent application Ser. No. 12/091,359, filed Apr. 24,2008 and published Oct. 1, 2009 as U.S. Publication No. US-2009-0244361;and/or Ser. No. 13/260,400, filed Sep. 26, 2011, now U.S. Pat. Nos.8,542,451, and/or 7,965,336 and/or 7,480,149, which are herebyincorporated herein by reference in their entireties. The imaging arraysensor may comprise any suitable sensor, and may utilize various imagingsensors or imaging array sensors or cameras or the like, such as a CMOSimaging array sensor, a CCD sensor or other sensors or the like, such asthe types described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719;6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435;6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149;7,038,577; 7,004,606; 7,720,580 and/or 7,965,336, and/or InternationalPublication Nos. WO/2009/036176 and/or WO/2009/046268, which are allhereby incorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. patent application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149; and/or U.S. patent application Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct. 14, 2009 andpublished Apr. 22, 2010 as U.S. Publication No. US-2010-0097469, whichare hereby incorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011 and published asU.S. Publication No. US-2012-0162427, which are hereby incorporatedherein by reference in their entireties. The video mirror display maycomprise any suitable devices and systems and optionally may utilizeaspects of the compass display systems described in U.S. Pat. Nos.7,370,983; 7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593;4,546,551; 5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851;5,708,410; 5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508;6,222,460; 6,513,252 and/or 6,642,851, and/or European patentapplication, published Oct. 11, 2000 under Publication No. EP 0 1043566,and/or U.S. patent application Ser. No. 11/226,628, filed Sep. 14, 2005and published Mar. 23, 2006 as U.S. Publication No. US-2006-0061008,which are all hereby incorporated herein by reference in theirentireties. Optionally, the video mirror display screen or device may beoperable to display images captured by a rearward viewing camera of thevehicle during a reversing maneuver of the vehicle (such as responsiveto the vehicle gear actuator being placed in a reverse gear position orthe like) to assist the driver in backing up the vehicle, and optionallymay be operable to display the compass heading or directional headingcharacter or icon when the vehicle is not undertaking a reversingmaneuver, such as when the vehicle is being driven in a forwarddirection along a road (such as by utilizing aspects of the displaysystem described in PCT Application No. PCT/US2011/056295, filed Oct.14, 2011 and published Apr. 19, 2012 as International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011and published as U.S. Publication No. US-2012-0162427, which are herebyincorporated herein by reference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. patent application Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A vehicular collision mitigation system,said vehicular collision mitigation system comprising: a plurality ofcameras disposed at a vehicle equipped with said vehicular collisionmitigation system, wherein said cameras have respective fields of viewexterior of the equipped vehicle; wherein at least one of said camerascomprises a forward viewing camera disposed at a front portion of theequipped vehicle so as to view at least forward of the equipped vehicle;wherein said forward viewing camera comprises a photosensor array havingrows and columns of photosensor elements and comprising at least 1million photosensor elements; wherein at least one of said camerascomprises a rearward viewing camera disposed at a rear portion of theequipped vehicle so as to view at least rearward of the equippedvehicle; wherein said rearward viewing camera comprises a photosensorarray having rows and columns of photosensor elements and comprising atleast 1 million photosensor elements; at least one selected from thegroup consisting of (i) a radar sensor disposed at the equipped vehicleso as to sense at least forward of the equipped vehicle and (ii) a lidarsensor disposed at the equipped vehicle so as to sense at least forwardof the equipped vehicle; a control disposed at the equipped vehicle,said control comprising an image processor operable to process imagedata captured by said plurality of cameras disposed at the equippedvehicle; said control operable to process at least one selected from thegroup consisting of (i) radar data captured by said radar sensordisposed at the equipped vehicle and (ii) lidar data captured by saidlidar sensor disposed at the equipped vehicle; wherein, responsive atleast in part to processing at said control of image data captured bysaid forward viewing camera and to processing at said control of atleast one selected from the group consisting of (i) radar data capturedby said radar sensor disposed at the equipped vehicle and (ii) lidardata captured by said lidar sensor disposed at the equipped vehicle, anautomatic emergency braking system of the equipped vehicle iscontrolled; wherein, when the equipped vehicle is moving and responsiveat least in part to a determination, via at least one selected from thegroup consisting of (i) image processing by said image processor ofimage data captured by said forward viewing camera and (ii) processingat said control of at least one selected from the group consisting ofcaptured radar data and captured lidar data, that the equipped vehicleis approaching an object present forwardly of the equipped vehicle, saidcontrol controls application by said automatic emergency braking systemof a vehicle brake of the equipped vehicle to mitigate collision withthe object; and wherein, responsive to determination, at least in partvia image processing by said image processor of image data captured bysaid rearward viewing camera, that a following vehicle is following theequipped vehicle and when the determined following vehicle is within athreshold distance from the equipped vehicle and is approaching theequipped vehicle above a threshold rate of approach, said controladjusts automatic emergency braking of the equipped vehicle to mitigatecollision at the rear of the equipped vehicle by the determinedfollowing vehicle.
 2. The vehicular collision mitigation system of claim1, wherein, when the equipped vehicle is moving and responsive at leastin part to determination that the moving equipped vehicle is approachingthe object determined present forwardly of the equipped vehicle and whenthe determined following vehicle is beyond a threshold distance from theequipped vehicle and is approaching the equipped vehicle below athreshold rate of approach, said control controls application of thevehicle brake by said automatic emergency braking system of the equippedvehicle at a first degree of braking.
 3. The vehicular collisionmitigation system of claim 2, wherein, when the equipped vehicle ismoving and responsive at least in part to determination that the movingequipped vehicle is approaching the object determined present forwardlyof the equipped vehicle and responsive at least in part to determinationof the determined following vehicle being within a threshold distancefrom the equipped vehicle and approaching the equipped vehicle above athreshold rate of approach, said control controls application of thevehicle brake by said automatic emergency braking system of the equippedvehicle at a second degree of braking.
 4. The vehicular collisionmitigation system of claim 3, wherein the second degree of braking isless than the first degree of braking.
 5. The vehicular collisionmitigation system of claim 4, wherein said control determines the seconddegree of braking based on at least one selected from the groupconsisting of (i) distance of the determined following vehicle from theequipped vehicle and (ii) rate of approach of the determined followingvehicle to the equipped vehicle.
 6. The vehicular collision mitigationsystem of claim 1, wherein, in order to mitigate collision by theequipped vehicle with the object determined present forwardly of theequipped vehicle and in order to mitigate collision by the determinedfollowing vehicle with the equipped vehicle, said control determines adegree of braking of the equipped vehicle responsive to a comparison of(i) rate of approach and distance of the equipped vehicle to the objectdetermined present forwardly of the equipped vehicle and (ii) rate ofapproach and distance of the determined following vehicle to theequipped vehicle.
 7. The vehicular collision mitigation system of claim1, wherein, responsive to determination that the moving equipped vehicleis approaching the object determined to be present forwardly of theequipped vehicle and responsive to rate of approach and distance of theequipped vehicle to the object determined present forwardly of theequipped vehicle, said vehicular collision mitigation system generatesan alert to a driver of the equipped vehicle.
 8. The vehicular collisionmitigation system of claim 1, wherein, responsive to determination thatthe following vehicle is following the equipped vehicle and responsiveto rate of approach and distance of the determined following vehicle tothe equipped vehicle, said vehicular collision mitigation systemgenerates an alert to a driver of the equipped vehicle.
 9. The vehicularcollision mitigation system of claim 1, wherein, when the equippedvehicle is moving and said automatic emergency braking system of theequipped vehicle is braking the equipped vehicle, and responsive atleast in part to determination that the determined following vehicle iswithin a threshold distance from the equipped vehicle and is approachingthe equipped vehicle above a threshold rate of approach, said controlreduces application of the vehicle brake to mitigate a rear collision bythe determined following vehicle with the equipped vehicle.
 10. Thevehicular collision mitigation system of claim 1, wherein, when theequipped vehicle is moving and said automatic emergency braking systemof the equipped vehicle is braking the equipped vehicle, said controldetermines a degree of application of the vehicle brake to mitigatecollision by the equipped vehicle with the object determined presentforwardly of the equipped vehicle and to mitigate collision by thedetermined following vehicle with the equipped vehicle.
 11. Thevehicular collision mitigation system of claim 1, wherein, when theequipped vehicle is moving and responsive at least in part todetermination that the moving equipped vehicle is approaching the objectdetermined present forwardly of the equipped vehicle, said automaticemergency braking system of the equipped vehicle is operable to applymaximum braking of the equipped vehicle when there is no vehicledetermined to be following the equipped vehicle within a thresholddistance from the equipped vehicle.
 12. The vehicular collisionmitigation system of claim 1, wherein said forward viewing camera isdisposed behind a windshield of the equipped vehicle so as to view atleast forwardly of the equipped vehicle through the windshield, andwherein said image processor processes image data captured by saidforward viewing camera for at least one selected from the groupconsisting of (i) a headlamp control system of the equipped vehicle and(ii) a lane departure warning system of the equipped vehicle.
 13. Thevehicular collision mitigation system of claim 1, wherein said imageprocessor processes image data captured by said rearward viewing camerafor at least one selected from the group consisting of (i) a rear backupsystem of the equipped vehicle and (ii) a surround view system of theequipped vehicle.
 14. The vehicular collision mitigation system of claim1, wherein, responsive to a vehicle system of the equipped vehicle, saidcontrol determines when the equipped vehicle is stopped, and whereinsaid vehicle system comprises one selected from the group consisting of(i) a speed sensor of the equipped vehicle and (ii) a braking system ofthe equipped vehicle.
 15. The vehicular collision mitigation system ofclaim 14, wherein the object present forwardly of the equipped vehiclecomprises a vehicle.
 16. A vehicular collision mitigation system, saidvehicular collision mitigation system comprising: a plurality of camerasdisposed at a vehicle equipped with said vehicular collision mitigationsystem, wherein said cameras have respective fields of view exterior ofthe equipped vehicle; wherein at least one of said cameras comprises aforward viewing camera disposed behind a windshield of the equippedvehicle so as to view at least forwardly of the equipped vehicle throughthe windshield; wherein said forward viewing camera comprises aphotosensor array having rows and columns of photosensor elements andcomprising at least 1 million photosensor elements; wherein at least oneof said cameras comprises a rearward viewing camera disposed at a rearportion of the equipped vehicle so as to view at least rearward of theequipped vehicle; wherein said rearward viewing camera comprises aphotosensor array having rows and columns of photosensor elements andcomprising at least 1 million photosensor elements; at least one radarsensor disposed at the equipped vehicle so as to sense at least forwardof the equipped vehicle; a control disposed at the equipped vehicle,said control comprising an image processor operable to process imagedata captured by said plurality of cameras; said control operable toprocess radar data captured by said at least one radar sensor; wherein,responsive at least in part to processing at said control of image datacaptured by said forward viewing camera and to processing at saidcontrol of radar data captured by said at least one radar sensor, anautomatic emergency braking system of the equipped vehicle iscontrolled; wherein, when the equipped vehicle is moving and responsiveat least in part to a determination, via at least one selected from thegroup consisting of (i) image processing by said image processor ofimage data captured by said forward viewing camera and (ii) processingat said control of radar data captured by said at least one radarsensor, that the equipped vehicle is approaching an object presentforwardly of the equipped vehicle, said control is operable to controlapplication by said automatic emergency braking system of a vehiclebrake of the equipped vehicle to mitigate collision with the object;wherein, responsive to determination, at least in part via imageprocessing by said image processor of image data captured by saidrearward viewing camera, that a following vehicle is following theequipped vehicle and when the determined following vehicle is within athreshold distance from the equipped vehicle and is approaching theequipped vehicle above a threshold rate of approach, said controladjusts automatic emergency braking of the equipped vehicle to mitigatecollision at the rear of the equipped vehicle by the determinedfollowing vehicle; wherein, when the equipped vehicle is moving andresponsive at least in part to determination that the moving equippedvehicle is approaching the object determined present forwardly of theequipped vehicle and when the determined following vehicle is beyond athreshold distance from the equipped vehicle and is approaching theequipped vehicle below a threshold rate of approach, said controlcontrols application of the vehicle brake by said automatic emergencybraking system of the equipped vehicle at a first degree of braking;wherein, when the equipped vehicle is moving and responsive at least inpart to determination that the moving equipped vehicle is approachingthe object determined present forwardly of the equipped vehicle andresponsive at least in part to determination of the determined followingvehicle being within a threshold distance from the equipped vehicle andapproaching the equipped vehicle above a threshold rate of approach,said control controls application of the vehicle brake by said automaticemergency braking system of the equipped vehicle at a second degree ofbraking; wherein the second degree of braking is less than the firstdegree of braking; and wherein said control determines the second degreeof braking based at least on distance of the determined followingvehicle from the equipped vehicle and rate of approach of the determinedfollowing vehicle to the equipped vehicle.
 17. The vehicular collisionmitigation system of claim 16, wherein said image processor processesimage data captured by said rearward viewing camera for a rear backupsystem of the equipped vehicle.
 18. The vehicular collision mitigationsystem of claim 17, wherein said image processor processes image datacaptured by said forward viewing camera for a headlamp control system ofthe equipped vehicle.
 19. The vehicular collision mitigation system ofclaim 17, wherein at least one lidar sensor is disposed at the equippedvehicle so as to sense at least forward of the equipped vehicle, andwherein said control is operable to process lidar data captured by saidat least one lidar sensor, and wherein responsive at least in part toprocessing at said control of image data captured by said forwardviewing camera and to processing at said control of at least oneselected from the group consisting of (i) radar data captured by said atleast one radar sensor and (ii) lidar data captured by said at least onelidar sensor, said automatic emergency braking system of the equippedvehicle is controlled.
 20. The vehicular collision mitigation system ofclaim 17, wherein said image processor processes image data captured bysaid forward viewing camera for a lane departure warning system of theequipped vehicle, and wherein said image processor processes image datacaptured by said rearward viewing camera for a surround view system ofthe equipped vehicle.
 21. A vehicular collision mitigation system, saidvehicular collision mitigation system comprising: a plurality of camerasdisposed at a vehicle equipped with said vehicular collision mitigationsystem, wherein said cameras have respective fields of view exterior ofthe equipped vehicle; wherein at least one of said cameras comprises aforward viewing camera disposed behind a windshield of the equippedvehicle so as to view at least forwardly of the equipped vehicle throughthe windshield; wherein said forward viewing camera comprises aphotosensor array having rows and columns of photosensor elements andcomprising at least 1 million photosensor elements; wherein at least oneof said cameras comprises a rearward viewing camera disposed at a rearportion of the equipped vehicle so as to view at least rearward of theequipped vehicle; wherein said rearward viewing camera comprises aphotosensor array having rows and columns of photosensor elements andcomprising at least 1 million photosensor elements; at least one radarsensor disposed at the equipped vehicle so as to sense at least forwardof the equipped vehicle; a control disposed at the equipped vehicle,said control comprising an image processor operable to process imagedata captured by said plurality of cameras; said control operable toprocess radar data captured by said at least one radar sensor; wherein,responsive at least in part to processing at said control of image datacaptured by said forward viewing camera and to processing at saidcontrol of radar data captured by said at least one radar sensor, anautomatic emergency braking system of the equipped vehicle iscontrolled; wherein, when the equipped vehicle is moving and responsiveat least in part to a determination, via at least one selected from thegroup consisting of (i) image processing by said image processor ofimage data captured by said forward viewing camera and (ii) processingat said control of radar data captured by said at least one radarsensor, that the equipped vehicle is approaching an object presentforwardly of the equipped vehicle, said control is operable to controlapplication by said automatic emergency braking system of a vehiclebrake of the equipped vehicle to mitigate collision with the object;wherein the object present forwardly of the equipped vehicle comprises avehicle; wherein, responsive at least in part to image processing bysaid image processor of image data captured by said rearward viewingcamera, said control determines that a following vehicle is followingthe equipped vehicle and that the determined following vehicle is withina threshold distance from the equipped vehicle and is approaching theequipped vehicle above a threshold rate of approach; and wherein, inorder to mitigate collision by the equipped vehicle with the objectdetermined present forwardly of the equipped vehicle and in order tomitigate collision by the determined following vehicle with the equippedvehicle, said control determines a degree of braking of the equippedvehicle responsive to a comparison of (i) rate of approach and distanceof the equipped vehicle to the object determined present forwardly ofthe equipped vehicle and (ii) rate of approach and distance of thedetermined following vehicle to the equipped vehicle.
 22. The vehicularcollision mitigation system of claim 21, wherein said image processorprocesses image data captured by said rearward viewing camera for a rearbackup system of the equipped vehicle.
 23. The vehicular collisionmitigation system of claim 21, wherein said image processor processesimage data captured by said forward viewing camera for a headlampcontrol system of the equipped vehicle.
 24. The vehicular collisionmitigation system of claim 21, wherein at least one lidar sensor isdisposed at the equipped vehicle so as to sense at least forward of theequipped vehicle, and wherein said control is operable to process lidardata captured by said at least one lidar sensor, and wherein responsiveat least in part to processing at said control of image data captured bysaid forward viewing camera and to processing at said control of atleast one selected from the group consisting of (i) radar data capturedby said at least one radar sensor and (ii) lidar data captured by saidat least one lidar sensor, said automatic emergency braking system ofthe equipped vehicle is controlled.
 25. The vehicular collisionmitigation system of claim 21, wherein said image processor processesimage data captured by said forward viewing camera for a lane departurewarning system of the equipped vehicle, and wherein said image processorprocesses image data captured by said rearward viewing camera for asurround view system of the equipped vehicle.
 26. The vehicularcollision mitigation system of claim 21, wherein, when the equippedvehicle is moving and responsive at least in part to determination thatthe moving equipped vehicle is approaching the object determined presentforwardly of the equipped vehicle and when the determined followingvehicle is beyond a threshold distance from the equipped vehicle and isapproaching the equipped vehicle below a threshold rate of approach,said control controls application of the vehicle brake by said automaticemergency braking system of the equipped vehicle at a first degree ofbraking.
 27. The vehicular collision mitigation system of claim 26,wherein, when the equipped vehicle is moving and responsive at least inpart to determination that the moving equipped vehicle is approachingthe object determined present forwardly of the equipped vehicle andresponsive at least in part to determination of the determined followingvehicle being within a threshold distance from the equipped vehicle andapproaching the equipped vehicle above a threshold rate of approach,said control controls application of the vehicle brake by said automaticemergency braking system of the equipped vehicle at a second degree ofbraking, and wherein the second degree of braking is less than the firstdegree of braking.
 28. The vehicular collision mitigation system ofclaim 27, wherein said control determines the second degree of brakingbased on at least one selected from the group consisting of (i) distanceof the determined following vehicle from the equipped vehicle and (ii)rate of approach of the determined following vehicle to the equippedvehicle.